雅可比矩阵与行列式
旋转副
运动学
机器人末端执行器
数学
可逆矩阵
控制理论(社会学)
机械臂
冗余(工程)
计算机科学
配置空间
反向动力学
机器人
数学分析
几何学
物理
人工智能
经典力学
纯数学
操作系统
量子力学
应用数学
控制(管理)
约束(计算机辅助设计)
作者
Kenneth Kreutz-Delgado,Mark K. Long,H. Seraji
标识
DOI:10.1177/027836499201100504
摘要
This article presents a kinematic analysis of seven-degree-of- freedom serial link spatial manipulators with revolute joints. To uniquely determine the joint angles for a given end-effector position and orientation, the redundancy is parameterized by a scalar variable that defines the angle between the arm plane and a reference plane. The forward kinematic mappings from joint space to end-effector coordinates and arm angle and the augmented Jacobian matrix that gives end-effector and arm angle rates as functions of joint rates are presented. Conditions under which the augmented Jacobian becomes singular are also given and are shown to correspond to the arm being either at a kinematically singular configuration or at a nonsingular configuration for which the arm angle ceases to parameterize the redundancy.
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